From 625c5082b0a0cfdd811bcbb6700d469e05ba8fba Mon Sep 17 00:00:00 2001 From: Niko Date: Thu, 11 Apr 2024 15:15:20 +0200 Subject: [PATCH] finished implementation of new hardware interface --- src/robotiq_2f/README.md | 0 .../robotiq_2f_controllers/CMakeLists.txt | 26 ++ .../robotiq_2f_controllers/package.xml | 18 + .../robotiq_2f_description/CMakeLists.txt | 26 ++ .../config/robotiq_2f_140_config.yaml | 9 + .../config/robotiq_2f_85_config.yaml | 11 + .../config/robotiq_controllers.yaml | 0 .../2f_140/robotiq_2f_140_base_link.stl | Bin 0 -> 86384 bytes .../2f_140/robotiq_2f_140_coupling.stl | Bin 0 -> 21184 bytes .../2f_140/robotiq_2f_140_inner_finger.stl | Bin 0 -> 7284 bytes .../2f_140/robotiq_2f_140_inner_knuckle.stl | Bin 0 -> 5484 bytes .../2f_140/robotiq_2f_140_outer_finger.stl | Bin 0 -> 11684 bytes .../2f_140/robotiq_2f_140_outer_knuckle.stl | Bin 0 -> 9784 bytes .../meshes/collision/2f_85/left_finger.stl | Bin 0 -> 19684 bytes .../collision/2f_85/left_finger_tip.stl | Bin 0 -> 11284 bytes .../collision/2f_85/left_inner_knuckle.stl | Bin 0 -> 17984 bytes .../meshes/collision/2f_85/left_knuckle.stl | Bin 0 -> 4384 bytes .../meshes/collision/2f_85/right_finger.stl | Bin 0 -> 19684 bytes .../collision/2f_85/right_finger_tip.stl | Bin 0 -> 11284 bytes .../collision/2f_85/right_inner_knuckle.stl | Bin 0 -> 17784 bytes .../meshes/collision/2f_85/right_knuckle.stl | Bin 0 -> 4384 bytes .../meshes/collision/2f_85/robotiq_base.stl | Bin 0 -> 20084 bytes .../collision/2f_85/ur_to_robotiq_adapter.stl | Bin 0 -> 48884 bytes .../2f_140/robotiq_2f_140_base_link.stl | Bin 0 -> 1054984 bytes .../visual/2f_140/robotiq_2f_140_coupling.stl | Bin 0 -> 160684 bytes .../2f_140/robotiq_2f_140_inner_finger.stl | Bin 0 -> 33984 bytes .../2f_140/robotiq_2f_140_inner_knuckle.stl | Bin 0 -> 43484 bytes .../2f_140/robotiq_2f_140_outer_finger.stl | Bin 0 -> 76084 bytes .../2f_140/robotiq_2f_140_outer_knuckle.stl | Bin 0 -> 78384 bytes .../meshes/visual/2f_85/left_finger.dae | 133 ++++++ .../meshes/visual/2f_85/left_finger_tip.dae | 133 ++++++ .../visual/2f_85/left_inner_knuckle.dae | 133 ++++++ .../meshes/visual/2f_85/left_knuckle.dae | 98 +++++ .../meshes/visual/2f_85/right_finger.dae | 133 ++++++ .../meshes/visual/2f_85/right_finger_tip.dae | 133 ++++++ .../visual/2f_85/right_inner_knuckle.dae | 133 ++++++ .../meshes/visual/2f_85/right_knuckle.dae | 98 +++++ .../meshes/visual/2f_85/robotiq_base.dae | 133 ++++++ .../visual/2f_85/ur_to_robotiq_adapter.dae | 136 ++++++ .../robotiq_2f_description/package.xml | 18 + .../urdf/robotiq_2f_140.ros2_control.xacro | 87 ++++ .../urdf/robotiq_2f_140.urdf.xacro | 0 .../urdf/robotiq_2f_140_macro.urdf.xacro | 0 .../urdf/robotiq_2f_85.ros2_control.xacro | 0 .../urdf/robotiq_2f_85.urdf.xacro | 0 .../urdf/robotiq_2f_85_macro.urdf.xacro | 0 .../hardware_interface.hpp | 97 +++-- .../src/hardware_interface.cpp | 390 +++++++++++++++++- .../tests/test_conversions.cpp | 69 ++++ 49 files changed, 1976 insertions(+), 38 deletions(-) create mode 100644 src/robotiq_2f/README.md create mode 100644 src/robotiq_2f/robotiq_2f_controllers/CMakeLists.txt create mode 100644 src/robotiq_2f/robotiq_2f_controllers/package.xml create mode 100644 src/robotiq_2f/robotiq_2f_description/CMakeLists.txt create mode 100644 src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_140_config.yaml create mode 100644 src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_85_config.yaml create mode 100644 src/robotiq_2f/robotiq_2f_description/config/robotiq_controllers.yaml create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_140/robotiq_2f_140_base_link.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_140/robotiq_2f_140_coupling.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_140/robotiq_2f_140_inner_finger.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_140/robotiq_2f_140_inner_knuckle.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_140/robotiq_2f_140_outer_finger.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_140/robotiq_2f_140_outer_knuckle.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_85/left_finger.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_85/left_finger_tip.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_85/left_inner_knuckle.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_85/left_knuckle.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_85/right_finger.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_85/right_finger_tip.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_85/right_inner_knuckle.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_85/right_knuckle.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_85/robotiq_base.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/collision/2f_85/ur_to_robotiq_adapter.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/visual/2f_140/robotiq_2f_140_base_link.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/visual/2f_140/robotiq_2f_140_coupling.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/visual/2f_140/robotiq_2f_140_inner_finger.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/visual/2f_140/robotiq_2f_140_inner_knuckle.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/visual/2f_140/robotiq_2f_140_outer_finger.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/visual/2f_140/robotiq_2f_140_outer_knuckle.stl create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/visual/2f_85/left_finger.dae create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/visual/2f_85/left_finger_tip.dae create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/visual/2f_85/left_inner_knuckle.dae create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/visual/2f_85/left_knuckle.dae create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/visual/2f_85/right_finger.dae create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/visual/2f_85/right_finger_tip.dae create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/visual/2f_85/right_inner_knuckle.dae create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/visual/2f_85/right_knuckle.dae create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/visual/2f_85/robotiq_base.dae create mode 100644 src/robotiq_2f/robotiq_2f_description/meshes/visual/2f_85/ur_to_robotiq_adapter.dae create mode 100644 src/robotiq_2f/robotiq_2f_description/package.xml create mode 100644 src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140.ros2_control.xacro create mode 100644 src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140.urdf.xacro create mode 100644 src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_140_macro.urdf.xacro create mode 100644 src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85.ros2_control.xacro create mode 100644 src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85.urdf.xacro create mode 100644 src/robotiq_2f/robotiq_2f_description/urdf/robotiq_2f_85_macro.urdf.xacro create mode 100644 src/robotiq_2f/robotiq_2f_interface/tests/test_conversions.cpp diff --git a/src/robotiq_2f/README.md b/src/robotiq_2f/README.md new file mode 100644 index 0000000..e69de29 diff --git a/src/robotiq_2f/robotiq_2f_controllers/CMakeLists.txt b/src/robotiq_2f/robotiq_2f_controllers/CMakeLists.txt new file mode 100644 index 0000000..f96d87b --- /dev/null +++ b/src/robotiq_2f/robotiq_2f_controllers/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 3.8) +project(robotiq_2f_controllers) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/robotiq_2f/robotiq_2f_controllers/package.xml b/src/robotiq_2f/robotiq_2f_controllers/package.xml new file mode 100644 index 0000000..ab0ddb2 --- /dev/null +++ b/src/robotiq_2f/robotiq_2f_controllers/package.xml @@ -0,0 +1,18 @@ + + + + robotiq_2f_controllers + 0.0.0 + TODO: Package description + niko + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/robotiq_2f/robotiq_2f_description/CMakeLists.txt b/src/robotiq_2f/robotiq_2f_description/CMakeLists.txt new file mode 100644 index 0000000..20cbfc6 --- /dev/null +++ b/src/robotiq_2f/robotiq_2f_description/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 3.8) +project(robotiq_2f_description) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_140_config.yaml b/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_140_config.yaml new file mode 100644 index 0000000..ce06c22 --- /dev/null +++ b/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_140_config.yaml @@ -0,0 +1,9 @@ +robotiq_2f_140_gripper: + ros__parameters: + # Physical limits + min_position: 0.0 # Meters (fully closed) + max_position: 0.14 # Meters (fully open) + min_speed: 0.02 # Meters per second + max_speed: 0.15 # Meters per second + min_force: 20.0 # Newtons + max_force: 235.0 # Newtons \ No newline at end of file diff --git a/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_85_config.yaml b/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_85_config.yaml new file mode 100644 index 0000000..6a106a5 --- /dev/null +++ b/src/robotiq_2f/robotiq_2f_description/config/robotiq_2f_85_config.yaml @@ -0,0 +1,11 @@ +robotiq_2f_140_gripper: + ros__parameters: + robot_ip: "192.168.1.11" + robot_port: 63352 + # Physical limits + min_position: 0.0 # Meters (fully closed) + max_position: 0.085 # Meters (fully open) + min_speed: 0.02 # Meters per second + max_speed: 0.15 # Meters per second + min_force: 20.0 # Newtons + max_force: 235.0 # Newtons \ No newline at end of file diff --git a/src/robotiq_2f/robotiq_2f_description/config/robotiq_controllers.yaml 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